/*
____/\\\\\\\\\_____        __/\\\________/\\\_        __/\\\\\\\\\\\_
 __/\\\///////\\\___        _\/\\\_______\/\\\_        _\/////\\\///__
  _\/\\\_____\/\\\___        _\/\\\_______\/\\\_        _____\/\\\_____
   _\/\\\\\\\\\\\/____        _\/\\\_______\/\\\_        _____\/\\\_____
    _\/\\\//////\\\____        _\/\\\_______\/\\\_        _____\/\\\_____
     _\/\\\____\//\\\___        _\/\\\_______\/\\\_        _____\/\\\_____
      _\/\\\_____\//\\\__        _\//\\\______/\\\__        _____\/\\\_____
       _\/\\\______\//\\\_        __\///\\\\\\\\\/___        __/\\\\\\\\\\\_
        _\///________\///__        ____\/////////_____        _\///////////__
*/
#ifndef RUI_CAN_H
#define RUI_CAN_H

#include "can.h"
#include "string.h"

typedef union  // 使用共用体整合数据
{
    struct __packed
    {
        int16_t q0;
        int16_t q1;
        int16_t q2;
        int16_t q3;
    } DataNeaten;
    // 接收到的数组
    uint8_t  Data[8];
}Angle_Aim_Typdef;


void CAN_Filter_Init(void);
//电机can发送
void RUI_F_CAN_SEDN(CAN_HandleTypeDef* _hcan , int16_t stdid , int16_t num1 , int16_t num2 , int16_t num3 , int16_t num4);

//共用体发送
void RUI_F_CAN_SEDN_UNION(CAN_HandleTypeDef* _hcan , int16_t stdid , uint8_t* Data);

extern Angle_Aim_Typdef Angle_ICM;
extern Angle_Aim_Typdef Angle_DM;

#endif
